Skill acquiring in robotics by successive approximation of nominal control sequences

Author

Djordjevic, Goran S. ; Potkonjak, Veljko

Author_Institution

Fac. of Electron. Eng., Nish Univ., Yugoslavia

Volume

4

fYear

1995

fDate

22-25 Oct 1995

Firstpage

3700

Abstract

Skill acquiring process for intelligent planning and trajectory following tasks based on learning is a topic considered in this paper. Several problems like definition and recognition of a skill, skill parametrization, off-line training, storage and generalization of a skill are particularly discussed. Task-oriented anthropomorphic learning concept, as a final result, gains a parametrized model of a robot for the given task. Successive approximation of nominal control sequences of a robot is used for experience generation. This approach possesses characteristics of globality. Applied in feedforward control concept it provides anticipation of future actions in trajectory planning tasks

Keywords

generalisation (artificial intelligence); intelligent control; knowledge acquisition; learning (artificial intelligence); path planning; robots; tracking; anthropomorphic learning; intelligent planning; nominal control sequences; robotics; skill acquiring; skill generalization; skill parametrization; successive approximation; trajectory following; trajectory planning; Anthropomorphism; Humans; Intelligent robots; Intelligent sensors; Kinematics; Motion planning; Robot control; Robot sensing systems; Shape control; Shape measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538363

Filename

538363